Delta Tau GEO BRICK LV 参照マニュアル
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
548
7
Encoder loss (from T,U,V,W) (latched to 1 on loss, cleared by writing 0)
8
Encoder Count Error (0 on counter reset, 1 on illegal transition)
9
Position Compare (EQUn*) output value
10
Position-Captured-On-Gated-Index Flag
(=0 on read of captured position register, =1 on trigger capture)
11
Position-Captured Flag (on any trigger)
(=0 on read of captured position register, =1 on trigger capture)
12
Handwheel 1 Channel A (HWAn) Input Value
13
Handwheel 1 Channel B (HWBn) Input Value
14
Handwheel 1 Channel C (Index, HWCn) Input Value (ungated)
15
Amplifier Fault (FAULTn*) Input Value
16
Home Flag (HMFLn*) Input Value
17
Positive End Limit (PLIMn*) Input Value
18
Negative End Limit (MLIMn*) Input Value
19
User Flag (USERn*) Input Value
20
FlagWn* Input Value
21
FlagVn* Input Value
22
FlagUn* Input Value
23
Flag Tn* Input Value
Chan #
1*
2*
Address
$078411
$078419
Y:$07841x Handwheel n Time Since Last Encoder Count (SCLK cycles)
X:$07841x Handwheel n Phase Position Capture Register (counts)
X:$07841x Handwheel n Phase Position Capture Register (counts)
Chan #
1*
2*
Address
$078412
$07841A
Y:$07841x Supplementary Channel n* Output A Command Value
Bits:
8-23: PWM Command Value
(appears on I/O10 & I/O11 if in dedicated mode)
0-5:
Not Used
X:$07841x Handwheel n* Servo Position Capture Register
Bits: 0:
Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)
Chan #
1*
2*
Address
$078413
$07841B
Y:$07841x Supplementary Channel n* Output B Command Value
Bits:
8-23: PWM Command Value
(appears on I/O08 & I/O09 if in dedicated mode)
0-5:
Not used
X:$07841x Handwheel n Flag Position Capture Value; 24 bits, units of counts
Chan #
1*
2*
Address
$078414
$07841C
Y:$07841x Supplementary Channel n* Output C Command Value
Bits:
8-23: PWM Command Value (appears on PUL1 & DIR1 if in PWM mode)
0-23: PFM Command Value (appears on PUL1 & DIR1 if in PFM mode)
X:$078414 Supplementary ADC Strobe Word, 24 bits